The supported types are defined by IkParameterizationType and are propagated throughout the entire OpenRAVE framework. All solve methods take in a IkParameterization structure, which handles each IK type’s serialization, distances metrics, derivatives, and transformation.

This database generator uses IKFast: The Robot Kinematics Compiler to generate optimized and stable analytic
inverse kinematics solvers for any robot manipulator. The manipulator’s arm joints are used for
obtaining the joints to solve for. The user can specify the IK type (Rotation, Translation, Full 6D,
Ray 4D, etc), the free joints of the kinematics, and the precision. For example, generating the
right arm 6D IK for the PR2 robot where the free joint is the first joint and the free increment is
0.01 radians is:

Every IK solver should be tested with the robot using --iktests=XXX. However, calling
inversekinematics will always re-generate the IK, even if one already exists. In order to just
run tests, it is possible to specify the --usecached option to prevent re-generation and
specifically test:

This will give the success rate along with information whether the IK gives a wrong results or fails
to find a solution.

If there are a lot of free joints in the IK solver, then their discretization can greatly affect
whether solutions are found or not. In this case, it is advisable to reduce the discretization
threshold by using the --freeinc option.

Usage: openrave.py --database inversekinematics [options]
Uses ikfast to compute the closed-form inverse kinematics equations of a robot
manipulator, generates a C++ file, and compiles this file into a shared object
which can then be loaded by OpenRAVE.
Options:
-h, --help show this help message and exit
--freejoint=FREEJOINTS
Optional joint name specifying a free parameter of the
manipulator. The value of a free joint is known at
runtime, but not known at IK generation time. If
nothing specified, assumes all joints not solving for
are free parameters. Can be specified multiple times
for multiple free parameters.
--precision=PRECISION
The precision to compute the inverse kinematics in,
(default=8).
--usecached If set, will always try to use the cached ik c++ file,
instead of generating a new one.
--freeinc=FREEINC The discretization value of freejoints.
--numiktests=IKTESTS, --iktests=IKTESTS
Will test the ik solver and return the success rate.
IKTESTS can be an integer to specify number of random
tests, it can also be a filename to specify the joint
values of the manipulator to test. The formst of the
filename is #numiktests [dof values]*
--perftiming=PERFTIMING
Number of IK calls for measuring the internal ikfast
solver.
--outputlang=OUTPUTLANG
If specified, will output the generated code in that
language (ie --outputlang=cpp).
-i, --ipython if true will drop into the ipython interpreter right
before ikfast is called
--iktype=IKTYPE The ik type to build the solver current types are:
Transform6D, Rotation3D, Translation3D, Direction3D,
Ray4D, Lookat3D, TranslationDirection5D,
TranslationXY2D, TranslationXYOrientation3D,
TranslationLocalGlobal6D, TranslationXAxisAngle4D,
TranslationYAxisAngle4D, TranslationZAxisAngle4D,
TranslationXAxisAngleZNorm4D,
TranslationYAxisAngleXNorm4D,
TranslationZAxisAngleYNorm4D, CustomDataBit
OpenRAVE Environment Options:
--loadplugin=_LOADPLUGINS
List all plugins and the interfaces they provide.
--collision=_COLLISION
Default collision checker to use
--physics=_PHYSICS physics engine to use (default=none)
--viewer=_VIEWER viewer to use (default=qtcoin)
--server=_SERVER server to use (default=None).
--serverport=_SERVERPORT
port to load server on (default=4765).
--module=_MODULES module to load, can specify multiple modules. Two
arguments are required: "name" "args".
-l _LEVEL, --level=_LEVEL, --log_level=_LEVEL
Debug level, one of
(fatal,error,warn,info,debug,verbose,verifyplans)
--testmode if set, will run the program in a finite amount of
time and spend computation time validating results.
Used for testing
OpenRAVE Database Generator General Options:
--show Graphically shows the built model
--getfilename If set, will return the final database filename where
all data is stored
--gethas If set, will exit with 0 if datafile is generated and
up to date, otherwise will return a 1. This will
require loading the model and checking versions, so
might be a little slow.
--robot=ROBOT OpenRAVE robot to load
(default=robots/barrettsegway.robot.xml)
--numthreads=NUMTHREADS
number of threads to compute the database with
(default=1)
--manipname=MANIPNAME
The name of the manipulator on the robot to use

Generates analytical inverse-kinematics solutions, compiles them into a shared object/DLL, and sets the robot’s iksolver. Only generates the models for the robot’s active manipulator. To generate IK models for each manipulator in the robot, mulitple InverseKinematicsModel classes have to be created.

Parameters:

robot – if not None, will use the robot’s active manipulator

manip – if not None, will the manipulator, takes precedence over robot